US7403124B2 - Driving support equipment for vehicles - Google Patents

Driving support equipment for vehicles Download PDF

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Publication number
US7403124B2
US7403124B2 US11/415,515 US41551506A US7403124B2 US 7403124 B2 US7403124 B2 US 7403124B2 US 41551506 A US41551506 A US 41551506A US 7403124 B2 US7403124 B2 US 7403124B2
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Prior art keywords
state
vehicle
driving
driver
preceding vehicle
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US11/415,515
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US20060255956A1 (en
Inventor
Toshiya Arakawa
Noriyoshi Matsuo
Masahiro Kinoshita
Shinichi Satomi
Takashi Kondo
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Subaru Corp
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Fuji Jukogyo KK
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Priority claimed from JP2005137719A external-priority patent/JP4647387B2/ja
Priority claimed from JP2005262561A external-priority patent/JP4754305B2/ja
Application filed by Fuji Jukogyo KK filed Critical Fuji Jukogyo KK
Assigned to FUJI JUKOGYO KABUSHIKI KAISHA reassignment FUJI JUKOGYO KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ARAKAWA, TOSHIYA, KINOSHITA, MASAHIRO, KONDO, TAKASHI, MATSUO, NORIYOSHI, SATOMI, SHINICHI
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Assigned to FUJI JUKOGYO KABUSHIKI KAISHA reassignment FUJI JUKOGYO KABUSHIKI KAISHA CHANGE OF ADDRESS Assignors: FUJI JUKOGYO KABUSHIKI KAISHA
Assigned to Subaru Corporation reassignment Subaru Corporation CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: FUJI JUKOGYO KABUSHIKI KAISHA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver

Definitions

  • a driving support equipment for a vehicle comprising a frontward information recognition unit for recognizing environs information at the front of said vehicle; a preceding vehicle information detection unit for detecting preceding vehicle information from the environs information at the front of said vehicle; an eye motion detection unit for detecting an eye motion of a driver who drives the vehicle; a dispersion value processing unit for processing a value showing a dispersion of said eye motion regarding said preceding vehicle, detected by the eye motion detection unit; an attention state estimation unit for estimating an attention state of the driver regarding said preceding vehicle, using said value showing the eye motion dispersion; and an alarm control unit for varying a vehicle alarm according to said estimated attention state of the driver.
  • a driving state estimation equipment for a vehicle having a solid object information detection unit for recognizing a solid object in an environs of the vehicle and detecting information regarding said solid object; an eye motion detection unit for detecting an eye motion of a driver of the vehicle; a determination area setting unit for setting a determination area based on the solid object information detected by said solid object information detection unit; and a driving state determination unit for determining a driving state of the driver, based on a ratio of a stoppage period of a line of sight of the driver within said determination area, as detected by the eye motion detection unit, with a standard stoppage period, which is a stoppage period of the line of sight within said determination area under circumstances set beforehand.
  • FIG. 13 is an explanatory drawing of the eye angles and threshold value, from the driver to the preceding vehicle.
  • the stereo camera 3 is constructed with a set of (left right) charge coupled device (CCD) cameras, which use as a stereo optical system, for example, solid-state image sensing devices such as a CCD, etc.
  • CCD charge coupled device
  • These left-right CCD cameras are respectively installed at a fixed interval on the front ceiling of the vehicle interior. They perform stereo image acquisitions of the vehicle exterior (solid objects) from different viewpoints and output image data to the stereo image recognition device 4 .
  • the stereo image recognition device 4 has inputted into it the respective signals of the image data from the stereo camera 3 , vehicle speed, handle angle, and yaw rate. Based on the image data, it detects the frontward condition for solid objects data, side wall data, and white line data at the automotive vehicle's 1 front. With such frontward information and the driving condition of the automotive vehicle 1 , it estimates the advancing path (automobile advancing path) of the automotive vehicle 1 .
  • a forward information recognition unit and a preceding vehicle information detection unit are arranged through the stereo camera 3 and the stereo image recognition device 4 .
  • a gaze point on a virtual plane is calculated.
  • control unit 8 may, as an example, perform the following alarms as the frontward alarms focused on the preceding vehicle.
  • control unit 8 such functions as the dispersion value calculation unit, the attention state estimation unit, the awake degree estimation unit, and alarm control unit are arranged in the control unit 8 .
  • the control unit 8 changes the width information of the preceding vehicle to the angle ⁇ .
  • the control unit 8 calculates an average value of the driver's eye motions, as well as the dispersion ⁇ from that average value.
  • the attention estimation value Sh is compared to an estimation threshold value Shc, which was set beforehand. If the attention estimation value Sh is greater than the estimation threshold value Shc, it is determined that the attention state of driving regarding the preceding vehicle is greater, and one advances to S 107 .
  • the frontward alarms are moderated in intensity from alarm performed in the usual state, and one quits the program (additionally, the sudden appearance alarms are left as is).
  • the attention estimation value Sh is greater than the estimation threshold value Shc, it is judged that the attention state of driving with regard to the preceding vehicle is greater, and the frontward alarms are moderated in intensity from alarms performed in the usual state.
  • the attention estimation value Sh is judged to be less than the estimation threshold value Shc, it is determined that attention state of driving with regard to the preceding vehicle is lesser (aimless state). Then, if the awake estimation value Kh is determined to be greater than the set value Khc, an awake time is adjudged. The sudden appearance alarms are moderated in intensity from alarms operated in the usual state. If the awake estimation value Kh is determined to be lower than the set value Khc, a lowered awake time is adjudged. Then, both the frontward alarms and the sudden appearance alarms are operated as usual.
  • overcautious state Upon determination of an overcautious state in a second preferred mode of the present invention, one following the below-mentioned overcautious state determination handling routine of FIG. 9 . If the following 2 conditions are both satisfied, then the overcautious state is determined.
  • FIG. 9 shows the overcautious state determination handling routine.
  • the extraction of the preceding vehicle is done at S 301 .
  • the preceding vehicle is made the standard (the center of the preceding vehicle's window is made the standard).
  • An overcautious state determination area X 1 with radius 5 deg is set.
  • the overcautious state determination area may also be established with the 2 areas X 1 and X 2 , of FIG. 11 .
  • a standard stoppage period TB which is the eye stoppage time periods within the overcautious state determination area X 1 , during a 10 second period after starting driving and detecting a preceding vehicle, has been established.
  • the standard stoppage period TB is set at S 304 and then, one advances to S 305 . If the standard stoppage period TB has already been established, then one simply proceeds to S 305 as is.
  • the average eye angle ⁇ 10 a is compared to a threshold value ⁇ 10 ac 1 (for example, 10 deg) that has been set beforehand, and if the average eye angle ⁇ 10 a is less than the previously set threshold value ⁇ 10 ac 1 , one proceeds to S 309 .
  • the ratio of stoppage periods Tr is compared to a threshold value Trc 1 (for example, 0.5), which has been set beforehand. If the ratio of stoppage periods Tr is greater than the previously set threshold value Trc 1 , one proceeds to S 310 . There, a determination of an overcautious state is output, and one leaves the routine.
  • the result of the comparison of the average eye angle ⁇ 10 a with the previously set threshold value ⁇ 10 ac 1 at S 208 is that the average eye angle ⁇ 10 a is greater than the previously set threshold value ⁇ 10 ac 1 .
  • the result of the comparison of the ratio of stoppage periods Tr with-the previously set threshold value Trc 1 at S 309 is that the ratio of stoppage periods Tr is smaller than the threshold value Trc 1 . In such cases, rather than determining an overcautious state, one simply quits the routine as is.
  • an area Y 1 having the preceding vehicle as the standard (the center of the preceding vehicle window as the standard) with radius 5 deg, and an area Y 2 having other solid objects (for example, solid objects such as a guard rail at the side of the preceding vehicle, road signs, vehicles, etc.) as the standard and with radius 5 deg, are established.
  • an ellipse or circle-shaped area that touches upon area Y 1 and area Y 2 is set as the aimless state determination area Y 0 .
  • the aimless state determination area Y 0 may also be set as shown in FIG. 12( b ).
  • a standard stoppage period TB which is the eye stoppage time periods within the aimless state determination area Y 0 , during a 10 second period after starting driving and detecting a preceding vehicle, has been established.
  • the average eye angle ⁇ 10 a is compared to a threshold value ⁇ 10 ac 2 (for example, 15 deg) that has been set beforehand, and if the average eye angle ⁇ 10 a is greater than the previously set threshold value ⁇ 10 ac 2 , one proceeds to S 409 .
  • the ratio of stoppage periods Tr is compared to a threshold value Trc 2 (for example, 0.5), which has been set beforehand. If the ratio of stoppage periods Tr is greater than the previously set threshold value Trc 2 , one proceeds to S 410 . There, a determination of an aimless state is output, and one leaves the routine.
  • the result of the comparison of the average eye angle ⁇ 10 a with the previously set threshold value ⁇ 10 ac 2 at S408, is that the average eye angle ⁇ 10 a is smaller than the previously set threshold value ⁇ 10 ac 2 .
  • the result of the comparison of the ratio of stoppage periods Tr with the previously set threshold value Trc 2 at S409 is that the ratio of stoppage periods Tr is smaller than the threshold value Trc 1 . In such cases, rather than determining an aimless state, one simply quits the routine as is.
  • an area Y 1 having the preceding vehicle as the standard (the center of the preceding vehicle window as the standard) with radius 5 deg, and an area Y 2 having other solid objects (for example, solid objects such as a guard rail at the side of the preceding vehicle, road signs, vehicles, etc.) as the standard and with radius 5 deg, are established.
  • an ellipse or circle-shaped area that touches upon area Y 1 and area Y 2 is set as the aimless state determination area Y 0 .
  • an aimless state determination area Y 0 may also be established as shown in FIG. 12( b ).
  • the third preferred mode of the present invention one determines, one can precisely determine the attentiveness state with regard to other than preceding vehicles, by way of the eye angles and the eye concentration degree during the past 10 seconds. In this manner, it provides similar effects as the second preferred mode.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Emergency Alarm Devices (AREA)
US11/415,515 2005-05-10 2006-05-02 Driving support equipment for vehicles Active 2026-08-27 US7403124B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2005-137719 2005-05-10
JP2005137719A JP4647387B2 (ja) 2005-05-10 2005-05-10 車両の運転支援装置
JP2005262561A JP4754305B2 (ja) 2005-09-09 2005-09-09 運転状態推定装置
JP2005-262561 2005-09-09

Related Parent Applications (1)

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US10/764,010 Continuation-In-Part US8036729B2 (en) 1998-09-14 2004-01-22 Assessing the condition of a joint and devising treatment

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US09/953,373 Continuation-In-Part US7184814B2 (en) 1998-09-14 2001-09-14 Assessing the condition of a joint and assessing cartilage loss

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US7403124B2 true US7403124B2 (en) 2008-07-22

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Cited By (14)

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US20080236929A1 (en) * 2007-03-30 2008-10-02 Denso Corporation Database apparatus, attention calling apparatus and driving support apparatus
US20090089108A1 (en) * 2007-09-27 2009-04-02 Robert Lee Angell Method and apparatus for automatically identifying potentially unsafe work conditions to predict and prevent the occurrence of workplace accidents
US20090303078A1 (en) * 2006-09-04 2009-12-10 Panasonic Corporation Travel information providing device
US20090326761A1 (en) * 2008-06-26 2009-12-31 Advics Co., Ltd. Vehicle control device
US20100007479A1 (en) * 2008-07-08 2010-01-14 Smith Matthew R Adaptive driver warning methodology
US20100036290A1 (en) * 2007-01-19 2010-02-11 Yoshihiro Noguchi Arousal state classification model generating device, arousal state classifying device, and warning device
US8666603B2 (en) 2011-02-11 2014-03-04 Sitting Man, Llc Methods, systems, and computer program products for providing steering-control feedback to an operator of an automotive vehicle
US8773251B2 (en) 2011-02-10 2014-07-08 Sitting Man, Llc Methods, systems, and computer program products for managing operation of an automotive vehicle
US8847771B2 (en) 2013-01-25 2014-09-30 Toyota Motor Engineering & Manufacturing North America, Inc. Method and apparatus for early detection of dynamic attentive states for providing an inattentive warning
US8902054B2 (en) 2011-02-10 2014-12-02 Sitting Man, Llc Methods, systems, and computer program products for managing operation of a portable electronic device
US9747812B2 (en) 2014-10-22 2017-08-29 Honda Motor Co., Ltd. Saliency based awareness modeling
US9845097B2 (en) 2015-08-12 2017-12-19 Ford Global Technologies, Llc Driver attention evaluation
US11145215B1 (en) 2011-03-11 2021-10-12 Sitting Man, Llc Methods, systems, and computer program products for providing feedback to a user of a portable electronic in motion
US11786694B2 (en) 2019-05-24 2023-10-17 NeuroLight, Inc. Device, method, and app for facilitating sleep

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ITCH20080018A1 (it) * 2008-08-08 2010-02-09 Leonardo Bellante Anti sleep driver (asd)
US8081088B2 (en) * 2008-09-11 2011-12-20 Raytheon Company Method and apparatus for apportioning attention to status indicators
US9460601B2 (en) * 2009-09-20 2016-10-04 Tibet MIMAR Driver distraction and drowsiness warning and sleepiness reduction for accident avoidance
US8552850B2 (en) * 2010-02-17 2013-10-08 Honeywell International Inc. Near-to-eye tracking for adaptive operation
JP5640542B2 (ja) * 2010-08-10 2014-12-17 日産自動車株式会社 安定状態表示装置
BR112016023042B1 (pt) * 2014-04-02 2022-01-11 Nissan Motor Co. Ltd Aparelho de apresentação de informações de veículo
US9598010B2 (en) * 2015-04-02 2017-03-21 Denso International America, Inc. Visual alert system
KR101896790B1 (ko) * 2016-11-08 2018-10-18 현대자동차주식회사 운전자 집중도 판정 장치, 그를 포함한 시스템 및 그 방법
JP2019091283A (ja) * 2017-11-15 2019-06-13 オムロン株式会社 集中度判定装置、集中度判定方法及び集中度判定のためのプログラム
CN113442884A (zh) * 2021-07-08 2021-09-28 的卢技术有限公司 智能刹车辅助方法及载具

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JPH11276461A (ja) 1998-03-27 1999-10-12 Suzuki Motor Corp 注意力測定装置及びこれを用いた情報提示装置
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Cited By (21)

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US20090303078A1 (en) * 2006-09-04 2009-12-10 Panasonic Corporation Travel information providing device
US8085140B2 (en) * 2006-09-04 2011-12-27 Panasonic Corporation Travel information providing device
US20100036290A1 (en) * 2007-01-19 2010-02-11 Yoshihiro Noguchi Arousal state classification model generating device, arousal state classifying device, and warning device
US8400313B2 (en) * 2007-01-19 2013-03-19 Asahi Kasei Kabushiki Kaisha Vehicle driver sleep state classification generating device based on Hidden Markov Model, sleep state classification device and warning device
US20080236929A1 (en) * 2007-03-30 2008-10-02 Denso Corporation Database apparatus, attention calling apparatus and driving support apparatus
US7705738B2 (en) * 2007-03-30 2010-04-27 Denso Corporation Database apparatus, attention calling apparatus and driving support apparatus
US20090089108A1 (en) * 2007-09-27 2009-04-02 Robert Lee Angell Method and apparatus for automatically identifying potentially unsafe work conditions to predict and prevent the occurrence of workplace accidents
US20090326761A1 (en) * 2008-06-26 2009-12-31 Advics Co., Ltd. Vehicle control device
US20100007479A1 (en) * 2008-07-08 2010-01-14 Smith Matthew R Adaptive driver warning methodology
US8773251B2 (en) 2011-02-10 2014-07-08 Sitting Man, Llc Methods, systems, and computer program products for managing operation of an automotive vehicle
US8902054B2 (en) 2011-02-10 2014-12-02 Sitting Man, Llc Methods, systems, and computer program products for managing operation of a portable electronic device
US8666603B2 (en) 2011-02-11 2014-03-04 Sitting Man, Llc Methods, systems, and computer program products for providing steering-control feedback to an operator of an automotive vehicle
US11145215B1 (en) 2011-03-11 2021-10-12 Sitting Man, Llc Methods, systems, and computer program products for providing feedback to a user of a portable electronic in motion
US11756441B1 (en) 2011-03-11 2023-09-12 Rafqa Star, Llc Methods, systems, and computer program products for providing feedback to a user of a portable electronic in motion
US8847771B2 (en) 2013-01-25 2014-09-30 Toyota Motor Engineering & Manufacturing North America, Inc. Method and apparatus for early detection of dynamic attentive states for providing an inattentive warning
US9299237B2 (en) 2013-01-25 2016-03-29 Toyota Jidosha Kabushiki Kaisha Method and apparatus for early detection of dynamic attentive states for providing an inattentive warning
US20160171322A1 (en) * 2013-01-25 2016-06-16 Toyota Jidosha Kabushiki Kaisha Method and apparatus for early detection of dynamic attentive states for providing an inattentive warning
US9824286B2 (en) * 2013-01-25 2017-11-21 Toyota Jidosha Kabushiki Kaisha Method and apparatus for early detection of dynamic attentive states for providing an inattentive warning
US9747812B2 (en) 2014-10-22 2017-08-29 Honda Motor Co., Ltd. Saliency based awareness modeling
US9845097B2 (en) 2015-08-12 2017-12-19 Ford Global Technologies, Llc Driver attention evaluation
US11786694B2 (en) 2019-05-24 2023-10-17 NeuroLight, Inc. Device, method, and app for facilitating sleep

Also Published As

Publication number Publication date
EP1721782B1 (fr) 2013-03-20
EP1721782A3 (fr) 2009-07-29
EP1721782A2 (fr) 2006-11-15
EP2535224A1 (fr) 2012-12-19
EP2535224B1 (fr) 2016-04-27
US20060255956A1 (en) 2006-11-16

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